void INotifyDelegate.OnIMUDataUpdate(string deviceId, float[] acc, float[] gyro, float[] mag, float[] quat)
{
if (sensorEventDict.ContainsKey(deviceId))
{
var accVal = new Vector3(acc[0], acc[1], acc[2]);
var gyroVal = new Vector3(gyro[0], gyro[1], gyro[2]);
var magVal = new Vector3(mag[0], mag[1], mag[2]);
var quatVal = new Quaternion(quat[0], quat[1], quat[2], quat[3]);
var raw = new SensorData {
acc = accVal, gyro = gyroVal, mag = magVal, quat = quatVal
};
var imu = new IMUData {
timeUtc = DateTime.UtcNow, raw = raw, unity = raw.ToUnityWorld()
};
var device = sensorEventDict[deviceId];
context?.Post(_ => {
device.NotifyUpdateAccel(accVal);
device.NotifyUpdateGyro(gyroVal);
device.NotifyUpdateCompass(magVal);
device.NotifyUpdateQuaternion(quatVal);
device.NotifyUpdateIMU(imu);
}, null);
}
}
void IIMUEventDelegate.NotifyUpdateIMU(IMUData imu)
{
IMUSensorUpdateEvent?.Invoke(imu);
}